Name
Abstract | ||
|---|---|---|
This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and " ground-in-the-loop " technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data. (C) 2007 Wiley Periodicals, Inc. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1002/rob.20186 | JOURNAL OF FIELD ROBOTICS |
Keywords | Field | DocType |
sensitivity,computer vision,prototypes,simulation,robotics,mars exploration,end effectors | Errors-in-variables models,Computer vision,Fiducial marker,Simulation,Position error,Robot end effector,Artificial intelligence,Subpixel rendering,Engineering,Detector,Robotics,Exploration of Mars | Journal |
Volume | Issue | ISSN |
24 | 5 | 1556-4959 |
Citations | PageRank | References |
8 | 0.90 | 9 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Max Bajracharya | 1 | 224 | 18.15 |
| Matthew DiCicco | 2 | 41 | 4.89 |
| Paul Backes | 3 | 71 | 9.26 |
| Kevin Nickels | 4 | 11 | 2.03 |